Stability of fuzzy and LQR controllers applied to a inverted pendulum system: Fuzzy and LQR controllers

Stability of fuzzy and LQR controllers applied to a inverted pendulum system: Fuzzy and LQR controllers

This paper presents the design of controllers, fuzzy and optimal, for a car-inverted pendulum system to control the angular position of the rod, the fuzzy controller is the Mamdani type and the optimal is a linear quadratic regulator. The dynamic behavior of the system with controls are obtained in...

Full description

Saved in:
Bibliographic Details
Published in:2015 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) pp. 1 - 6
Main Authors: Cuevas, Pedro Tellez, Luna, Aldo Hernandez, Hernandez Sanchez, Juan Fernando, Lopez, Israel Martinez, Morga Bonilla, Sergio Ivan
Format: Conference Proceeding
Language:English
Published: IEEE 01-11-2015
Subjects:
Analytical models
Hafnium
inverted pendulum fuzzy control
linear quadratic optimal regulator (LQR)
linguistic
Mathematical model
MATLAB
Niobium
optimal control
phase plane trajectory
Regulators
Stability analysis
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper presents the design of controllers, fuzzy and optimal, for a car-inverted pendulum system to control the angular position of the rod, the fuzzy controller is the Mamdani type and the optimal is a linear quadratic regulator. The dynamic behavior of the system with controls are obtained in MatLab / Simulink. Finally It is plotted system stability with two methods, the first based on the convergence of linguistic trajectories in the state space and the second based in phase planes.
DOI:10.1109/ROPEC.2015.7395098